Actually, if you go by the weight distribution theory of wedge effectiveness, putting the burst motor at the back should make the best wedge possible.The biggest issue with this bot would be stability. You need some (static!) side stabilizers (plows work good). You can get some extra weight by using a square 140 cm extender for the wedge, if it's not against your building ethics. You can also get away with a Snapper 2 rather than a DDT.
It's under the square extender tab.
I think SM is a pretty cool guy, eh builds unicycle-bots and doesn't afraid of anything
Too slow
Oh how incorrect you are. It's perfectly fine as is. For the drive that is.
Drive, needs 4WD HPZ
And those arms must move oh so slow with all that weight on them...